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Visual attention-based robot navigation using information sampling

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2 Author(s)
Winters, N. ; Dept. of Comput. Sci., Trinity Coll., Dublin, Ireland ; Santos-Victor, J.

Presents a method whereby an autonomous mobile robot automatically selects the most informative data from a set of images acquired a priori, using a statistical method termed information sampling. These data could be a single pixel or a number scattered throughout an image. This information is then used to build a topological map of the environment. Our sole input data are omnidirectional images obtained from a catadioptric panoramic camera. Experimental results show that by using only the best data the topological position of a robot, visually maneuvering through a simple indoor environment, can easily be determined

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: